KR20130058522A - Finger for data gloves - Google Patents

Abstract

PURPOSE: A finger for a data glove is provided to maximize convenience of operation by simultaneously performing a rotating movement and a separating movement in each frame using a four bar link structure. CONSTITUTION: A finger(100) for a data glove comprises a base(110), a plurality of frames(120), and a detection member(140). The detection member detects an angle difference formed between the frames and delivers the same to an outer device. A virtual rotary center is equipped for a pair of frames to be perpendicular to a rotary shaft. The pair of frames is connected to be circularly moved based on the virtual rotary center.

Description

Finger for data glove {FINGER FOR DATA GLOVES}

The present invention relates to a finger for a data glove, and more particularly, to a finger for a data glove that can be used for industrial purposes.

Recently, as interest in robots has increased, various applications of robots have been applied to industrial sites and daily life. In the case of the existing industrial robots, it was common to implement simple and specific tasks by repetitive and defined flows, but in recent industrial sites, a number of processes requiring accurate and delicate work are occurring.

Industrial manipulators and data glove are being studied to implement this task. That is, when a worker mounts such a data globe on his hand and moves his finger, a robot hand, which is developed similar to the shape and function of a human hand, accurately performs the same operation as a human hand.

Currently, a lot of research is being conducted on the data globe, and since the data globe is a structure mounted on the human hand, most of the research is based on the movement of the human hand.

However, such a conventional data glove fails to implement an adduction / abduction operation of a finger, and thus has a problem in that it has a mechanical limitation.

Accordingly, an object of the present invention is to solve such a conventional problem, and to provide a finger for a data globe capable of allowing left and right movements, ie, adduction / abduction, in addition to bending of a finger.

According to the present invention, the object is worn on any one of the fingers of the human body, the device for transmitting the movement information of the finger to an external device, the base; At least one of a plurality of frames connected to the base to rotate about a predetermined rotation axis, and connected to each other; And a detection member for detecting an angle difference formed between neighboring frames among the plurality of frames and transmitting the difference to an external device. The virtual rotation center is perpendicular to the rotation axis for each pair of frames arranged adjacently. And a pair of neighboring frames are achieved by a finger for a data globe, wherein the pair of neighboring frames is connected to each other in a circular motion relative to the virtual center of rotation.

The frame may include a rotation frame connected to the base; It may include a; a plurality of node frames are connected to each other in turn from the rotating frame.

The apparatus may further include an extension member extending from the base and having a rotating hole formed at an end thereof, the rotating hole being coupled to the rotating frame so as to be rotatable.

The frame may include sidewalls formed with first and second through holes, and the virtual rotation center may be formed on a virtual straight line connecting the first through holes and the second through holes. .

In addition, a pair of first links are connected to each other at the center, the one end is rotatably connected to the first through hole of the neighboring node frame; One end portion is rotatably connected to each of the second through-holes of the adjacent node frame, the other end further comprises a link member having a pair of second links rotatably connected to the other end of the first link; Can be.

In addition, the virtual center of rotation unique to the pair of frames may be arranged to coincide with the axis of rotation of the joint of the user's finger.

In addition, the rotary pulley to rotate in conjunction with the second link; It further comprises a cable for interconnecting each of the rotating pulleys mounted on the adjacent link member to rotate at the same time, wherein any one of the link member may be linked to the remaining link member.

The link member may include: a first bevel gear that connects the node frame and the pivot frame to each other and rotates in conjunction with the rotation of the link member mounted to the pivot frame; A second bevel gear meshed with the first bevel gear; A rotating shaft member having one end coaxially coupled with the second bevel gear; And a power member connected to the other end of the rotation shaft part to generate power to selectively control the rotation of the rotation shaft member.

In addition, the rotating shaft member may include a universal joint.

In addition, the universal joint is provided with a pair, the rotating shaft member is mounted between the pair of universal joint, the length adjustable elastic member; may further include a.

According to the present invention, there is provided a data glove finger that can be mounted by a user and allow both bending of the finger and adduction / abduction.

In addition, by using the four-section link structure to perform the rotation and the spaced apart movement at the same time, it is possible to maximize the operation convenience of the wearer.

In addition, by matching the virtual center of rotation of the four-section link on the joint axis of rotation of the wearer's finger can improve the integrity of the movement of the user's finger.

In addition, by configuring the rotation control unit, it is possible to limit the operation of the user.

In addition, the positional change of the bevel gear generated during the adduction / abduction operation can be solved by using a universal joint interconnecting the spaced apart axes.

1 is a perspective view of a finger for a data glove according to an embodiment of the present invention;
FIG. 2 is an exploded perspective view illustrating a coupling structure between node frames of a finger for a data globe of FIG. 1;
FIG. 3 is an exploded perspective view illustrating a coupling structure between the node frame, the rotation frame, and the base of the finger for the data globe of FIG. 1;
4 is a side view illustrating a coupling structure of a rotation control unit of a finger for a data globe of FIG. 1;
FIG. 5 is a side view illustrating a bending operation of the finger for the data globe of FIG. 1;
6 is for explaining the operation principle of each link member during the bending operation of the finger for the data globe of FIG.
FIG. 7 is a plan view illustrating an adduction / abduction operation of the data globe finger of FIG. 1;
FIG. 8 illustrates a principle in which engagement between the first bevel gear and the second bevel gear is maintained during the adduction / abduction operation of the finger for the data globe of FIG. 6.

Hereinafter, a finger for a data glove according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of a finger for a data glove according to an embodiment of the present invention.

Referring to FIG. 1, the data glove finger 100 according to an embodiment of the present invention includes a base 110, a frame 120, a link member 130, a detection member 140, and an interlocking part 150. Rotation control unit 160 is included.

The base 110 is a member mounted on the back of the hand that is connected to the finger of the operator wearing the device, a predetermined receiving space therein to accommodate the rotary shaft member 164 of the rotation control unit 160 to be described later Form.

FIG. 2 is an exploded perspective view illustrating a coupling structure between the node frames of the data glove finger of FIG. 1, and FIG. 3 is an exploded perspective view illustrating a coupling structure between the node frame, the rotation frame, and the base of the data glove finger of FIG. 1. to be.

Hereinafter, the frame 120 will be described with reference to FIGS. 2 and 3.

The frame 120 is provided in plural and is configured to operate in conjunction with movement between the nodes mounted on each node of the wearer's finger, and includes one rotation frame 121 and a plurality of node frames 122.

The rotation frame 121 is connected to the base 110 to be rotatable from the base 110 about the rotation axis (P). The first through hole h1 and the second through hole h2 are sequentially formed in one of the sidewalls w of the rotation frame 121 along the diagonal direction from the top. On the other hand, since the rotation center C to be described later is formed on an imaginary straight line extending by connecting the first through hole (h1) and the second through hole (h2), the first through hole (h1) and the first through It is preferable to form two through holes h2.

On the other hand, a pair of extension members 111 are formed to protrude from the upper and lower surfaces of the base 110 to contact the upper and lower surfaces of the rotation frame 121, respectively, a pair of extension members 111 in contact with the rotation frame 121. Rotating holes 112 are formed at the ends of the rotating frame 121 and are fastened to each other. At this time, the center of the rotation hole 112 is defined as a rotation axis (P), the rotation frame 121 is mounted so as to rotate rotation about the rotation axis (P) from the base (110).

A total of three node frames 122 are provided, and each node frame 122 is sequentially connected to the above-described rotation frame 121, and each node is connected to the rotation frame 122 and has a first node along the outer direction. It is defined as the frame 122a, the second node frame 122b, and the third node frame 122c.

One node frame 122 is movably mounted along an arc around a virtual center of rotation C formed between the neighboring node frame 122 or the neighboring pivot frame 121.

Since a unique center of rotation C is formed between the neighboring node frame 122 or between the node frame 122 and the rotation frame 121, a total of three rotation centers C are formed in this embodiment. Each center of rotation (C) is preferably arranged to match the axis of rotation of the wearer finger joints.

In addition, the first through-hole h1 and the second through-hole h2 are formed in one side wall w of each node frame 122 along the diagonal direction in the same form as the rotation frame 121 mentioned above. On the other hand, the first through hole (h1) and the second through hole (h2) of each node frame 122 is a through-hole for connecting the link member 130, which will be described later, a pair is provided at both ends of the side wall (w) . However, since the link member 130 is connected only to one side of the node frame 122, that is, the third node frame 122c, the first through hole h1 and the second through hole ( h2) is formed.

The link member 130 is to interconnect each node frame 122, or to interconnect the first node frame 122a and the rotation frame 121, each link member 130 is a pair of first It is composed of a four-bar linkage structure including one link 131 and a pair of second links 132.

The first link 131 is provided in a pair, and the both ends are separated from each other or close to each other by being rotated based on the center by crossing each other. On the other hand, the lower end of each of the pair of first link 131 is rotatably coupled to the second through hole (h2) of the frame 120 to be connected.

The second link 132 is a link having a length shorter than that of the first link 131, and is provided in pairs so that one end thereof is rotatably connected to an upper end of the first link 131. The other end is rotatably connected to the first through hole h1 of the frame 120 to be connected.

Therefore, the first link 131 and the second link 132 coupled by the above-described structure have a four-link structure.

The detection member 140 measures and detects an angle formed by the movement between the node frame 122 and the node frame 122 or between the node frame 122 and the rotation frame 121.

In the present embodiment, the detection member 140 uses a potentiometer which measures the rotation angle of the second link 132 of the link member 130 of each frame 120 and calculates the rotation angle of the second link 132. If the structure can measure the change in angle due to the rotation of the liver is not limited thereto.

The linkage unit 150 is a member that connects movements between the link members 130 to each other so that all the frames 120 including the node frame 122 and the rotation frame 121 are connected to each other. And cable 152.

The rotary pulley 151 is fastened to the first through hole h1 formed in the side wall w of the nodal frame 122 so as to interlock with the rotation of the second link 132, and the cable described later is inserted and received. A predetermined groove portion is formed in the center so that it can be made.

In other words, when the second link 132 rotatably connected to the first through hole h1 rotates about the first through hole h1, the rotary pulley 151 may be connected to the second link 132. It is fastened to rotate in conjunction with rotation.

On the other hand, since the rotation pulley 151 is a member for implementing the linkage between the link member 130, a separate rotation to the rotation frame 121 and the third node frame 122c is mounted only on the single side link member 130 The pulley 151 is not provided.

The cable 152 is for connecting the pair of rotary pulleys 151 provided in the same node frame 122 or the rotating frame 121 to each other to transmit and cooperate with each other, and a pair of rotary pulleys ( The cable 152 is accommodated in the groove of each rotary pulley 151 so that the 151 is connected. At this time, the rotating pulley 151 to interlock and rotate the cable 152 once to rotate in different directions to interconnect the rotating pulley 151.

That is, according to the linkage unit 150 described above, when any one of the link members 130 operates, the rotation pulley 151 rotates together, and the rotational force is transmitted to the adjacent rotation pulley 151 through the cable 152. The adjacent link member 130 is also transmitted and operates, and all the link members 130 are interlocked by the operation principle.

On the other hand, the rotational rotation rate between the link members 130 to interlock, that is, the rotation angle ratio of each node frame 122 on the basis of the respective rotation center (C) to the diameter ratio between the rotation pulley 151 mounted on each Since it is determined according to, the diameter and ratio of the rotary pulley 151 is preferably determined in consideration of the bending degree of each joint of the wearer.

4 is a side view for explaining a coupling structure of the rotation control unit of the finger for the data globe of FIG.

Referring to FIG. 4, the rotation controller 160 is a member used to limit the operation of each frame 120 by a driving limit signal transmitted from an external device. The first bevel gear 161 and the second bevel gear 162, power member 163, and rotary shaft member 164.

The first bevel gear 161 is mounted to interlock with the rotation of the second link 132 rotatably connected on the first through hole (h1) of the rotation frame 121, the node frame 122 described above It is mounted on the rotating frame 121 in the same manner as the mounting principle of the rotary pulley 151 mounted on the).

Therefore, when the first bevel gear 161 is rotated, the rotational force is transmitted to the link member 132 mounted to be interlocked on the rotating frame, and the link member 150 is mounted to each node frame 122 by the linker 150. 130, the rotational force is also transmitted. That is, the first bevel gear 161, the interlocking portion 150 and all the link members 130 have a structure that works in conjunction with the same.

The second bevel gear 162 is for transmitting power transmitted from the power member 163 to be described later to the first bevel gear 161, the first bevel gear 161 and the inside of the rotating frame 121 Are matched.

The power member 163 is provided above the base 110 to provide power to the first bevel gear 161 and the second bevel gear 162 by receiving a driving limit signal and power from an external device. It is a member. In this embodiment, the DC member is used as the power member 163, but is not limited thereto.

The rotating shaft member 164 is provided in the base 110 to transfer power generated from the power member 163 to the second bevel gear 162, and a pair of universal joints disposed at both ends thereof, respectively. 165 and the universal member 165, the elastic member 166.

The universal joint 165 is provided at both ends of the elastic member 166, a pair of which will be described later, one of the second bevel gear 162 described above is coaxially coupled, the other is the power member 163 described above. ), The spur gear 167a coupled to the spur gear 167b is coaxially coupled.

The elastic member 166 is designed to be adjustable in length in order to adjust the distance between the universal joint 165 of both ends, it is coaxially coupled with the central axis of both universal joints (165).

According to the above structure, the rotating frame 121 rotates from the base 110 about the rotating shaft P, and thus, the first bevel gear 161 provided inside the rotating frame 121 also has a base 110. Although the position is changed together, the power generated from the power member 163 may be transmitted to the first bevel gear 161 with the position change without loss by the structures of the universal joint 165 and the elastic member 166.

The operation of one embodiment of the above-described data glove finger 100 will now be described.

First, it is assumed that the data glove finger 100 according to the present embodiment is mounted on a user's finger.

FIG. 5 is a side view illustrating a bending operation of the data glove finger of FIG. 1, and FIG. 6 illustrates an operation principle of each link member during the bending operation of the data glove finger of FIG. 4.

Referring to FIG. 5, when the user bends the last end node in a state in which the finger for the data glove 100 of the present embodiment is mounted, the third node frame 122c attached thereto and simultaneously operated is also a second node frame 122b. Rotate at a predetermined angle from.

That is, the second node frame 122b and the third node frame 122c move along a predetermined trajectory by the operation of the link member 130 therebetween, which will be described. An imaginary line extending from the second through hole h1 and the second through hole h2 formed in the second node frame 122b and the first through hole formed in the third node frame 122c. The virtual point where the virtual line which connects h1) and the 2nd through-hole h2 mutually mutually meets is the intrinsic virtual center of rotation C of the 2nd node frame 122b and the 3rd node frame 122c. Becomes

That is, as shown in Figure 6, according to the operation principle of the four-section link implemented by the link member 130 mounted between the second node frame 122b and the third node frame 122c is a unique virtual It moves along the arc around the center of rotation (C).

Referring back to the operation principle, the first through hole (h1) and the second through hole (h2) from the virtual center of rotation (C) to the first through hole (h1) and the second through hole (h2) Move along a circular arc, each with a radius.

At the same time, the rotation pulley 151 in the second node frame 122b is rotated by the operation of the link member 130 between the second node frame 122b and the third node frame 122c, and the rotational force is transmitted by the cable 152. It is transmitted to the neighboring rotating pulley 151 by) to operate the neighboring link member 130.

That is, since each node frame 122 is connected by the link member 130 and the linking unit 150, the rotation of any one node frame 122 rotates all other node frame 122 at the same time.

Further, the first through hole h1 and the second through hole between the node frame 122 and the node frame 122 connected by the link member 130 or between the node frame 122 and the rotation frame 121. Since the intrinsic rotation center C is determined according to the position of the sphere h2, each node frame 122 is moved on an arc based on the intrinsic rotation center C by the above-described principle.

FIG. 7 is a plan view illustrating the adduction / abduction operation of the finger for the data globe of FIG. 1.

In addition, as shown in Figure 7, according to the present embodiment, since the rotation frame 121 is rotatably coupled from the base 110 about the rotation axis (P), the user in addition to the bending motion of the finger in the left and right directions Abduction / abduction can be rotated. That is, the user is not inconvenienced to rotate a total of two axes including the bending motion and the adduction / abduction motion of the finger mounted on the present embodiment.

Therefore, the angle change between the nodal frame 122 and the nodal frame 122 or the nodal frame 122 and the rotation frame 121 generated by the user's finger bending operation is detected by the detecting member 140. By being transmitted to an external device connected thereto, the external device can quickly and accurately simulate the user's finger bending operation.

On the other hand, in the case where the operation is limited due to an obstacle, for example, contact with an external device operating by simulating the user's finger, the data glove finger 100 of the present embodiment also needs to be restricted in movement.

That is, when the driving of the data glove finger 100 of the present embodiment needs to be restricted, the driving limit signal is transmitted to the rotation controller 160.

The rotation control unit 160 receiving the signal does not generate rotational force or allow rotation in the direction of limiting finger movement by applying power to the power member 163. That is, in the general driving, the power member 163 is set to allow rotation in all directions so that the user can freely move his or her finger. However, when the power member 163 is operated, it generates a rotational force in one direction or in one direction. The rotational force is limited, and the power for limiting the driving is transmitted in the order of the rotating shaft member 164, the second bevel gear 162, and the first bevel gear 161.

Therefore, since the first bevel gear 161 receives the power of the power member 163, the first bevel gear 161 restricts the operation of the link member 130 rotatably connected on the rotation frame 121, from the power member 163. The generated and transmitted power simultaneously limits the movement in one direction of all the link members 130 interlocked with the user, thereby limiting the user's bending motion of the finger.

FIG. 8 illustrates a principle in which engagement between the first bevel gear and the second bevel gear is maintained during the adduction / abduction operation of the finger for the data globe of FIG. 6.

In addition, referring to FIG. 8, when the user rotates the finger in the left and right direction, the first bevel gear 161 is also moved in the left and right direction. According to the present embodiment, the rotary shaft member 164 has a universal joint ( Since the length of both ends can be controlled through the elastic member 166 at the same time, it is possible to firmly maintain the engagement state between the first bevel gear 161 and the second bevel gear 162.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. Without departing from the gist of the invention claimed in the claims, it is intended that any person skilled in the art to which the present invention pertains falls within the scope of the claims described in the present invention to various extents which can be modified.

100: finger for a data glove according to an embodiment of the present invention
110: base 120: frame
130: link member 140: detection member
150: linking unit 160: rotation control unit

Claims (10)

In the device that is worn on any one of the fingers of the human body, and transmits the movement information of the finger to an external device,
Base;
At least one of a plurality of frames connected to the base to rotate about a predetermined rotation axis, and connected to each other;
And a detecting member configured to detect an angle difference formed between neighboring frames among the plurality of frames and transmit the detected angle to an external device.
A virtual rotation center perpendicular to the rotation axis is provided for each pair of frames arranged adjacent to each other, and the pair of neighboring frames are connected to each other in a circular motion based on the virtual rotation center. Finger for data glove. The method of claim 1,
The frame includes a rotation frame connected to the base; And a plurality of node frames rotatably connected to each other sequentially from the rotation frame. The method of claim 2,
And an extension member extending from the base and having a rotating hole formed at an end thereof, the rotating hole being coupled to the rotating frame so as to be rotatable rotationally. The method of claim 2,
The frame includes sidewalls formed with a first through hole and a second through hole,
And the virtual rotation center is formed on a virtual straight line connecting the first through hole and the second through hole. 5. The method of claim 4,
A pair of first links connected to each other at a center and rotatably connected to a first through hole of a neighboring node frame; One end portion is rotatably connected to each of the second through-holes of the adjacent node frame, the other end further comprises a link member having a pair of second links rotatably connected to the other end of the first link; Finger for data glove, characterized in that. The method of claim 1,
And a virtual center of rotation unique to the pair of frames is arranged to coincide with the axis of rotation of the joint of the user's finger. The method of claim 5,
A rotating pulley rotating in association with the second link; It further includes a cable for interconnecting the rotary pulleys respectively mounted to the adjacent link member to rotate at the same time,
The one of the link member is a finger for a data globe, characterized in that the interlocking with the other link member. The method of claim 5,
The link member interconnects the node frame and the pivot frame,
A first bevel gear that rotates in conjunction with a rotation of the link member mounted to the rotation frame; A second bevel gear meshed with the first bevel gear; A rotating shaft member having one end coaxially coupled with the second bevel gear; And a power member connected to the other end of the rotary shaft portion to generate power to selectively control rotation of the rotary shaft member. 9. The method of claim 8,
The rotary shaft member is a finger for a data globe, characterized in that it comprises a universal joint (universal joint). 10. The method of claim 9,
The universal joint is provided with a pair,
The rotating shaft member is mounted between the pair of universal joints, the length of the adjustable elastic member; further comprising a finger for a data glove.

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